// *****************************************************************************
//
// Copyright (c) 2015, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Southwest Research Institute® (SwRI®) nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL SOUTHWEST RESEARCH INSTITUTE BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// *****************************************************************************
#ifndef SWRI_ROSCPP_PUBLISHER_H_
#define SWRI_ROSCPP_PUBLISHER_H_

#include <ros/node_handle.h>

namespace swri
{
template<typename M>
ros::Publisher advertise(
  ros::NodeHandle &nh,
  const std::string name,
  uint32_t queue_size,
  bool latched=false)
{
  const std::string resolved_name = nh.resolveName(name);
  ROS_INFO("Publishing [%s] to '%s'.",
           name.c_str(),
           resolved_name.c_str());
  return nh.advertise<M>(name, queue_size, latched);
}    
}  // namespace swri
#endif  // SWRI_ROSCPP_PUBLISHER_H_
